mirror of https://github.com/ArduPilot/ardupilot
288 lines
9.0 KiB
C++
288 lines
9.0 KiB
C++
#include <AP_Common/AP_Common.h>
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include "SPIDriver.h"
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdio.h>
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#include <stdint.h>
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#include <errno.h>
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#include <sys/ioctl.h>
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#include <linux/spi/spidev.h>
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#include "GPIO.h"
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#define SPI_DEBUGGING 0
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using namespace Linux;
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extern const AP_HAL::HAL& hal;
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#define MHZ (1000U*1000U)
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#define KHZ (1000U)
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXF || CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBOARD
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LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
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// different SPI tables per board subtype
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LinuxSPIDeviceDriver(1, 0, AP_HAL::SPIDevice_LSM9DS0_AM, SPI_MODE_3, 8, BBB_P9_17, 10*MHZ,10*MHZ),
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LinuxSPIDeviceDriver(1, 0, AP_HAL::SPIDevice_LSM9DS0_G, SPI_MODE_3, 8, BBB_P8_9, 10*MHZ,10*MHZ),
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LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, BBB_P9_42, 10*MHZ,10*MHZ),
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LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, BBB_P9_28, 500*1000, 20*MHZ),
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/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
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LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, BBB_P9_23, 1*MHZ, 20*MHZ),
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LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, BBB_P8_12, 6*MHZ, 6*MHZ),
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};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO
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LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
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/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
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LinuxSPIDeviceDriver(0, 1, AP_HAL::SPIDevice_MPU9250, SPI_MODE_0, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
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LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Ublox, SPI_MODE_0, 8, SPI_CS_KERNEL, 250*KHZ, 5*MHZ),
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};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BBBMINI
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LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
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/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
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LinuxSPIDeviceDriver(2, 0, AP_HAL::SPIDevice_MPU9250, SPI_MODE_3, 8, SPI_CS_KERNEL, 1*MHZ, 20*MHZ),
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LinuxSPIDeviceDriver(2, 1, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, SPI_CS_KERNEL, 10*MHZ,10*MHZ),
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};
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#elif CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
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LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[] = {
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/* MPU9250 is restricted to 1MHz for non-data and interrupt registers */
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LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MPU6000, SPI_MODE_3, 8, RPI_GPIO_25, 1*MHZ, 8*MHZ),
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LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_MS5611, SPI_MODE_3, 8, RPI_GPIO_23, 1*MHZ, 8*MHZ),
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LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_L3GD20, SPI_MODE_3, 8, RPI_GPIO_12, 1*MHZ, 8*MHZ),
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LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_LSM303D, SPI_MODE_3, 8, RPI_GPIO_22, 1*MHZ, 8*MHZ),
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LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_Dataflash, SPI_MODE_3, 8, RPI_GPIO_5, 1*MHZ, 8*MHZ),
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LinuxSPIDeviceDriver(0, 0, AP_HAL::SPIDevice_RASPIO, SPI_MODE_3, 8, RPI_GPIO_7, 8*MHZ, 8*MHZ),
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};
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#else
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// empty device table
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LinuxSPIDeviceDriver LinuxSPIDeviceManager::_device[0];
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#endif
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#define LINUX_SPI_DEVICE_NUM_DEVICES ARRAY_SIZE(LinuxSPIDeviceManager::_device)
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// have a separate semaphore per bus
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LinuxSemaphore LinuxSPIDeviceManager::_semaphore[LINUX_SPI_MAX_BUSES];
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LinuxSPIDeviceDriver::LinuxSPIDeviceDriver(uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDevice type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed):
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_bus(bus),
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_subdev(subdev),
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_type(type),
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_mode(mode),
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_bitsPerWord(bitsPerWord),
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_lowspeed(lowspeed),
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_highspeed(highspeed),
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_speed(highspeed),
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_cs_pin(cs_pin),
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_cs(NULL)
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{
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}
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void LinuxSPIDeviceDriver::init()
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{
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// Init the CS
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if(_cs_pin != SPI_CS_KERNEL) {
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_cs = hal.gpio->channel(_cs_pin);
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if (_cs == NULL) {
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hal.scheduler->panic("Unable to instantiate cs pin");
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}
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_cs->mode(HAL_GPIO_OUTPUT);
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_cs->write(1); // do not hold the SPI bus initially
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} else {
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// FIXME Anything we need to do here for kernel-managed CS?
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}
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}
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AP_HAL::Semaphore* LinuxSPIDeviceDriver::get_semaphore()
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{
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return LinuxSPIDeviceManager::get_semaphore(_bus);
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}
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bool LinuxSPIDeviceDriver::transaction(const uint8_t *tx, uint8_t *rx, uint16_t len)
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{
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return LinuxSPIDeviceManager::transaction(*this, tx, rx, len);
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}
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void LinuxSPIDeviceDriver::set_bus_speed(enum bus_speed speed)
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{
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if (speed == SPI_SPEED_LOW) {
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_speed = _lowspeed;
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} else {
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_speed = _highspeed;
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}
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}
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void LinuxSPIDeviceDriver::cs_assert()
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{
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LinuxSPIDeviceManager::cs_assert(_type);
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}
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void LinuxSPIDeviceDriver::cs_release()
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{
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LinuxSPIDeviceManager::cs_release(_type);
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}
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uint8_t LinuxSPIDeviceDriver::transfer(uint8_t data)
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{
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uint8_t v = 0;
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transaction(&data, &v, 1);
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return v;
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}
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void LinuxSPIDeviceDriver::transfer(const uint8_t *data, uint16_t len)
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{
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transaction(data, NULL, len);
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}
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void LinuxSPIDeviceManager::init(void *)
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{
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for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
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if (_device[i]._bus >= LINUX_SPI_MAX_BUSES) {
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hal.scheduler->panic("SPIDriver: invalid bus number");
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}
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char path[255];
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snprintf(path, sizeof(path), "/dev/spidev%u.%u",
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_device[i]._bus + LINUX_SPIDEV_BUS_OFFSET, _device[i]._subdev);
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_device[i]._fd = open(path, O_RDWR);
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if (_device[i]._fd == -1) {
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printf("Unable to open %s - %s\n", path, strerror(errno));
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hal.scheduler->panic("SPIDriver: unable to open SPI bus");
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}
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#if SPI_DEBUGGING
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printf("Opened %s\n", path);
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fflush(stdout);
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#endif
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_device[i].init();
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}
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}
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void LinuxSPIDeviceManager::cs_assert(enum AP_HAL::SPIDevice type)
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{
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uint16_t bus = 0, i;
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for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
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if (_device[i]._type == type) {
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bus = _device[i]._bus;
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break;
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}
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}
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if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
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hal.scheduler->panic("Bad device type");
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}
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// Kernel-mode CS handling
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if(_device[i]._cs_pin == SPI_CS_KERNEL)
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return;
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for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
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if (_device[i]._bus != bus) {
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// not the same bus
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continue;
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}
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if (_device[i]._type != type) {
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if (_device[i]._cs->read() != 1) {
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hal.console->printf("two CS enabled at once i=%u %u and %u\n",
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(unsigned)i, (unsigned)type, (unsigned)_device[i]._type);
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}
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}
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}
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for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
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if (_device[i]._type == type) {
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_device[i]._cs->write(0);
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}
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}
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}
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void LinuxSPIDeviceManager::cs_release(enum AP_HAL::SPIDevice type)
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{
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uint16_t bus = 0, i;
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for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
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if (_device[i]._type == type) {
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bus = _device[i]._bus;
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break;
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}
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}
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if (i == LINUX_SPI_DEVICE_NUM_DEVICES) {
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hal.scheduler->panic("Bad device type");
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}
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// Kernel-mode CS handling
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if(_device[i]._cs_pin == SPI_CS_KERNEL)
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return;
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for (i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
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if (_device[i]._bus != bus) {
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// not the same bus
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continue;
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}
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_device[i]._cs->write(1);
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}
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}
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bool LinuxSPIDeviceManager::transaction(LinuxSPIDeviceDriver &driver, const uint8_t *tx, uint8_t *rx, uint16_t len)
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{
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int r;
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// we set the mode before we assert the CS line so that the bus is
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// in the correct idle state before the chip is selected
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r = ioctl(driver._fd, SPI_IOC_WR_MODE, &driver._mode);
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if (r == -1) {
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hal.console->printf("SPI: error on setting mode\n");
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return false;
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}
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cs_assert(driver._type);
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struct spi_ioc_transfer spi[1];
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memset(spi, 0, sizeof(spi));
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spi[0].tx_buf = (uint64_t)tx;
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spi[0].rx_buf = (uint64_t)rx;
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spi[0].len = len;
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spi[0].delay_usecs = 0;
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spi[0].speed_hz = driver._speed;
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spi[0].bits_per_word = driver._bitsPerWord;
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spi[0].cs_change = 0;
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if (rx != NULL) {
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// keep valgrind happy
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memset(rx, 0, len);
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}
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r = ioctl(driver._fd, SPI_IOC_MESSAGE(1), &spi);
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cs_release(driver._type);
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if (r == -1) {
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hal.console->printf("SPI: error on doing transaction\n");
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return false;
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}
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return true;
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}
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/*
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return a SPIDeviceDriver for a particular device
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*/
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AP_HAL::SPIDeviceDriver *LinuxSPIDeviceManager::device(enum AP_HAL::SPIDevice dev, uint8_t index)
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{
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uint8_t count = 0;
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for (uint8_t i=0; i<LINUX_SPI_DEVICE_NUM_DEVICES; i++) {
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if (_device[i]._type == dev) {
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if (count == index) {
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return &_device[i];
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} else {
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count++;
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}
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}
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}
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return NULL;
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}
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/*
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return the bus specific semaphore
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*/
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AP_HAL::Semaphore *LinuxSPIDeviceManager::get_semaphore(uint16_t bus)
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{
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return &_semaphore[bus];
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}
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#endif // CONFIG_HAL_BOARD
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